Railway Challenge / Mbed 2 deprecated challenge-2022Fork

Commented out energgy sotrage code to rever to old state

Dependencies:   mbed millis

remoteControl.cpp@39:c36b75a3402e, 16 months ago (annotated)

Committer:
as96
Date:
Fri Jun 23 17:44:09 2023 +0000
Revision:
39:c36b75a3402e
Parent:
38:1c93a9501929 
Energy Change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwcjoliver 0:4788e1df7b55 1 #include <mbed.h>
rwcjoliver 0:4788e1df7b55 2 #include "remoteControl.h"
rwcjoliver 0:4788e1df7b55 3 #include "definitions.h"
rwcjoliver 0:4788e1df7b55 4
as96 38:1c93a9501929 5 Remote::Remote(SPI& remoteControl, DigitalOut& remoteControlCS, SPI& lcdScreen, DigitalOut& lcdScreenCS) : _remoteControl(remoteControl), _remoteControlCS(remoteControlCS), _lcdScreen(lcdScreen), _lcdScreenCS(lcdScreenCS) {
rwcjoliver 0:4788e1df7b55 6 _remoteControl.format(8,0); // FORMAT SPI AS 8-BIT DATA, SPI CLOCK MODE 0
as96 38:1c93a9501929 7 _lcdScreen.format(8,0);
rwcjoliver 0:4788e1df7b55 8 const long arduinoClock = 16000000;
rwcjoliver 0:4788e1df7b55 9 long spiFrequency = arduinoClock / 4;
rwcjoliver 0:4788e1df7b55 10 _remoteControl.frequency(spiFrequency); // SET SPI CLOCK FREQUENCY
as96 38:1c93a9501929 11 _lcdScreen.frequency(spiFrequency);
rwcjoliver 0:4788e1df7b55 12
rwcjoliver 0:4788e1df7b55 13 _remoteControlCS = 1; // DISABLE SLAVE
as96 38:1c93a9501929 14 _lcdScreenCS = 1; // Disable Slave for LCD
rwcjoliver 0:4788e1df7b55 15 spiDelay = 600; //DELAY BETWEEN SPI TRANSACTIONS (SO ARDUINO CAN KEEP UP WITH REQUESTS)
rwcjoliver 0:4788e1df7b55 16
rwcjoliver 0:4788e1df7b55 17 commsGood = false; // Successful Comms Between Nucleo and Remote Control
rwcjoliver 0:4788e1df7b55 18 commsFailures = 0; // Number of consecutive remote comms failures
rwcjoliver 0:4788e1df7b55 19 errorIndex = 0;
rwcjoliver 0:4788e1df7b55 20
rwcjoliver 0:4788e1df7b55 21 // remoteSwitchStateTicker.attach(this, &Remote::getSwitchStates, 0.2);
rwcjoliver 0:4788e1df7b55 22 commsCheckTicker.attach(this, &Remote::commsCheck, 0.2); // Run the commsCheck function every 0.1s with the commsCheckTicker. - &commsCheck = The address of the function to be attached and 0.1 = the interval
rwcjoliver 0:4788e1df7b55 23 }
rwcjoliver 0:4788e1df7b55 24
as96 36:5c61710813b3 25 int Remote::sendData(int precursor, int data)
as96 36:5c61710813b3 26 {
rwcjoliver 0:4788e1df7b55 27 int response = 0;
rwcjoliver 0:4788e1df7b55 28
rwcjoliver 0:4788e1df7b55 29 _remoteControlCS = 0; // ENABLE REMOTE SPI
rwcjoliver 0:4788e1df7b55 30 // pc.printf("Enabled \r\n");
rwcjoliver 0:4788e1df7b55 31 _remoteControl.write(precursor); // Prepare arduino to receive data
rwcjoliver 0:4788e1df7b55 32 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 33 _remoteControl.write(data); // SEND DATA
rwcjoliver 0:4788e1df7b55 34 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 35 response = _remoteControl.write(255);
rwcjoliver 0:4788e1df7b55 36 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 37
rwcjoliver 0:4788e1df7b55 38 _remoteControlCS = 1; // DISABLE REMOTE SPI
as96 38:1c93a9501929 39
as96 38:1c93a9501929 40 if(precursor == 10)
as96 38:1c93a9501929 41 {
as96 38:1c93a9501929 42 _lcdScreenCS = 0;
as96 38:1c93a9501929 43 _lcdScreen.write(data);
as96 38:1c93a9501929 44
as96 38:1c93a9501929 45 wait_us(spiDelay);
as96 38:1c93a9501929 46 _lcdScreenCS = 1;
as96 38:1c93a9501929 47 }
rwcjoliver 0:4788e1df7b55 48 // pc.printf("Disabling\r\n");
rwcjoliver 0:4788e1df7b55 49
rwcjoliver 0:4788e1df7b55 50 return response;
rwcjoliver 0:4788e1df7b55 51 }
rwcjoliver 0:4788e1df7b55 52
as96 36:5c61710813b3 53 void Remote::commsCheck()
as96 36:5c61710813b3 54 {
rwcjoliver 0:4788e1df7b55 55 // Send a random number to the controller and expect its square in return for valid operation.
rwcjoliver 0:4788e1df7b55 56
rwcjoliver 0:4788e1df7b55 57 // Random number between 2 and 15. Reply should be the squared, and within the 1 byte size limit of 255 for SPI comms.
rwcjoliver 0:4788e1df7b55 58 // Does not conflict with switch states as they use ASCII A, B C etc which are Decimal 65+
rwcjoliver 0:4788e1df7b55 59 int randomNumber = rand() % (15 - 2 + 1) + 2; // rand()%(max-min + 1) + min inclusive of max and min
rwcjoliver 0:4788e1df7b55 60 int expectedResponse = randomNumber * randomNumber;
rwcjoliver 0:4788e1df7b55 61 int actualResponse = 0;
rwcjoliver 0:4788e1df7b55 62
rwcjoliver 0:4788e1df7b55 63 actualResponse = sendData(1, randomNumber);
as96 36:5c61710813b3 64
rwcjoliver 0:4788e1df7b55 65
as96 36:5c61710813b3 66 if (actualResponse == expectedResponse)
as96 36:5c61710813b3 67 {
as96 36:5c61710813b3 68
rwcjoliver 0:4788e1df7b55 69 commsGood = true;
rwcjoliver 0:4788e1df7b55 70 commsFailures = 0; // Reset consecutive failure count
rwcjoliver 0:4788e1df7b55 71 }
rwcjoliver 0:4788e1df7b55 72 else
rwcjoliver 0:4788e1df7b55 73 {
as96 36:5c61710813b3 74
rwcjoliver 0:4788e1df7b55 75
as96 36:5c61710813b3 76 if (commsFailures++ > 3)
as96 36:5c61710813b3 77 { // Increment consecutive failure count
rwcjoliver 0:4788e1df7b55 78 commsGood = false; // Flag comms failure after 3 failures (> 0.3 seconds)
as96 36:5c61710813b3 79
rwcjoliver 0:4788e1df7b55 80 }
rwcjoliver 0:4788e1df7b55 81 }
as96 36:5c61710813b3 82
rwcjoliver 0:4788e1df7b55 83 }
rwcjoliver 0:4788e1df7b55 84
rwcjoliver 0:4788e1df7b55 85 // CONVERT BYTE TO BITS
rwcjoliver 0:4788e1df7b55 86 /*
rwcjoliver 0:4788e1df7b55 87 The received bytes from the remote control uses bitmapping.
rwcjoliver 0:4788e1df7b55 88 Each 0/1 bit represents the on/ off state of a switch.
rwcjoliver 0:4788e1df7b55 89 This function takes each bit and assigned it to a switch variable.
rwcjoliver 0:4788e1df7b55 90 */
rwcjoliver 0:4788e1df7b55 91 void Remote::ByteToBits(unsigned char character, bool *boolArray)
rwcjoliver 0:4788e1df7b55 92 {
as96 36:5c61710813b3 93 for (int i=0; i < 8; ++i)
as96 36:5c61710813b3 94 {
rwcjoliver 0:4788e1df7b55 95 boolArray[i] = (character & (1<<i)) != 0;
rwcjoliver 0:4788e1df7b55 96 }
rwcjoliver 0:4788e1df7b55 97 }
rwcjoliver 0:4788e1df7b55 98
as96 36:5c61710813b3 99 void Remote::getSwitchStates()
as96 36:5c61710813b3 100 {
rwcjoliver 0:4788e1df7b55 101 // GET THE SWITCH STATES FROM THE REMOTE CONTROL
rwcjoliver 0:4788e1df7b55 102
rwcjoliver 0:4788e1df7b55 103
rwcjoliver 0:4788e1df7b55 104 bool bitGroupA[8] = {1, 1, 1, 1, 1, 1, 1, 1};
rwcjoliver 0:4788e1df7b55 105 bool bitGroupB[8] = {1, 1, 1, 1, 1, 1, 1, 1};
rwcjoliver 0:4788e1df7b55 106
rwcjoliver 0:4788e1df7b55 107 char slaveReceivedA, slaveReceivedB; // BYTE RECEIVED FROM REMOTE CONTROL
rwcjoliver 0:4788e1df7b55 108
rwcjoliver 0:4788e1df7b55 109 slaveReceivedA = sendData(3, 3);
rwcjoliver 0:4788e1df7b55 110 slaveReceivedB = sendData(4, 4);
rwcjoliver 0:4788e1df7b55 111 throttle = sendData(5, 5);
rwcjoliver 0:4788e1df7b55 112 braking = sendData(6, 6);
rwcjoliver 0:4788e1df7b55 113
rwcjoliver 0:4788e1df7b55 114 ByteToBits(slaveReceivedA, bitGroupA); // CONVERT GROUP A BYTE TO BITS
rwcjoliver 0:4788e1df7b55 115 ByteToBits(slaveReceivedB, bitGroupB); // CONVERT GROUP B BYTE TO BITS
rwcjoliver 0:4788e1df7b55 116
rwcjoliver 0:4788e1df7b55 117 // ASSIGN VARIABLES FROM BIT GROUPS
rwcjoliver 0:4788e1df7b55 118
rwcjoliver 0:4788e1df7b55 119 start = bitGroupA[0];
rwcjoliver 0:4788e1df7b55 120 forward = bitGroupA[1];
rwcjoliver 0:4788e1df7b55 121 park = bitGroupA[2];
rwcjoliver 0:4788e1df7b55 122 reverse = bitGroupA[3];
rwcjoliver 0:4788e1df7b55 123 compressor = bitGroupA[4];
rwcjoliver 0:4788e1df7b55 124 autoStop = bitGroupA[5];
rwcjoliver 0:4788e1df7b55 125 regenBrake = bitGroupA[6];
rwcjoliver 0:4788e1df7b55 126 regenThrottle = bitGroupA[7];
rwcjoliver 0:4788e1df7b55 127
rwcjoliver 0:4788e1df7b55 128 whistle = bitGroupB[0];
rwcjoliver 0:4788e1df7b55 129 innovation = bitGroupB[1];
rwcjoliver 0:4788e1df7b55 130
rwcjoliver 0:4788e1df7b55 131
rwcjoliver 0:4788e1df7b55 132 }
rwcjoliver 0:4788e1df7b55 133
as96 36:5c61710813b3 134 void Remote::setTime(int hr, int min, int sec, int day, int mon, int yr)
as96 36:5c61710813b3 135 {
rwcjoliver 0:4788e1df7b55 136 _remoteControlCS = 0;
rwcjoliver 0:4788e1df7b55 137
rwcjoliver 0:4788e1df7b55 138 _remoteControl.write(7);
rwcjoliver 0:4788e1df7b55 139 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 140 _remoteControl.write(hr);
rwcjoliver 0:4788e1df7b55 141 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 142 _remoteControl.write(min);
rwcjoliver 0:4788e1df7b55 143 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 144 _remoteControl.write(sec);
rwcjoliver 0:4788e1df7b55 145 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 146 _remoteControl.write(day);
rwcjoliver 0:4788e1df7b55 147 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 148 _remoteControl.write(mon);
rwcjoliver 0:4788e1df7b55 149 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 150 _remoteControl.write(yr);
rwcjoliver 0:4788e1df7b55 151 wait_us(spiDelay);
rwcjoliver 0:4788e1df7b55 152 _remoteControl.write(255);
rwcjoliver 0:4788e1df7b55 153
rwcjoliver 0:4788e1df7b55 154 _remoteControlCS = 1; // DISABLE REMOTE SPI
rwcjoliver 0:4788e1df7b55 155 }
rwcjoliver 0:4788e1df7b55 156
as96 36:5c61710813b3 157 void Remote::sendError(int error)
as96 36:5c61710813b3 158 {
rwcjoliver 0:4788e1df7b55 159
rwcjoliver 0:4788e1df7b55 160 bool errorInBuffer = false;
rwcjoliver 0:4788e1df7b55 161
as96 36:5c61710813b3 162 for (int index = 0; index < errorIndex; index++)
as96 36:5c61710813b3 163 {
as96 36:5c61710813b3 164 if (errorBuffer[index] == error)
as96 36:5c61710813b3 165 {
as96 36:5c61710813b3 166 errorInBuffer = true;
rwcjoliver 0:4788e1df7b55 167 break;
rwcjoliver 0:4788e1df7b55 168 }
rwcjoliver 0:4788e1df7b55 169 }
rwcjoliver 0:4788e1df7b55 170
as96 36:5c61710813b3 171 if (errorInBuffer == false)
as96 36:5c61710813b3 172 {
rwcjoliver 0:4788e1df7b55 173 errorBuffer[errorIndex++] = error;
rwcjoliver 0:4788e1df7b55 174 }
as96 36:5c61710813b3 175 else
as96 36:5c61710813b3 176 {
rwcjoliver 0:4788e1df7b55 177 errorInBuffer = false; // reset
rwcjoliver 0:4788e1df7b55 178 }
rwcjoliver 0:4788e1df7b55 179
rwcjoliver 0:4788e1df7b55 180 sendData(8, errorBuffer[0]);
rwcjoliver 0:4788e1df7b55 181
rwcjoliver 0:4788e1df7b55 182 for (int index = 0; index < errorIndex; index++) {
rwcjoliver 0:4788e1df7b55 183 errorBuffer[index] = errorBuffer[index + 1];
rwcjoliver 0:4788e1df7b55 184 }
rwcjoliver 0:4788e1df7b55 185 errorIndex--;
rwcjoliver 0:4788e1df7b55 186
rwcjoliver 0:4788e1df7b55 187 wait_ms(100);
rwcjoliver 0:4788e1df7b55 188 }